/*
 * Compare.h
 *
 *  Created on: 2012. 3. 14.
 *      Author: root
 */

#ifndef COMPARE_H_
#define COMPARE_H_

#define SYSOFFSET      0


typedef struct{

	double prev;
	double thres;
	double iMatch;
	double iMissMatch;

}check_TI;

extern int iCvValid;
extern int bCvValid ;
typedef struct{
	unsigned int run_cnt;

	double x; //state vector
	double A; //state transition matrix
	double B; //input matrix
	double u; //input control vector
	double Q; //process noise covariance

	double z; //observation vector
	double H; //observation matrix
	double R; //measurement noise covariance

	double P; //covariance of the state vector estimate

}Kalman_filter;

extern void Compare();

#endif /* COMPARE_H_ */
